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track motor control CPU time

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This commit is contained in:
Oskar Weigl
2017-07-11 00:43:07 -07:00
parent c0a84367de
commit 1050ced7f6
2 changed files with 20 additions and 9 deletions
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MotorControl/low_level.c
+19 -9
View File
@@ -65,6 +65,7 @@ Motor_t motors[] = {
.motor_timer = &htim1,
.next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
.control_deadline = TIM_1_8_PERIOD_CLOCKS,
.last_cpu_time = 0,
.current_meas = {0.0f, 0.0f},
.DC_calib = {0.0f, 0.0f},
.gate_driver = {
@@ -125,6 +126,7 @@ Motor_t motors[] = {
.motor_timer = &htim8,
.next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
.control_deadline = (3*TIM_1_8_PERIOD_CLOCKS)/2,
.last_cpu_time = 0,
.current_meas = {0.0f, 0.0f},
.DC_calib = {0.0f, 0.0f},
.gate_driver = {
@@ -244,10 +246,14 @@ float * exposed_floats [] = {
int * exposed_ints [] = {
(int*)&motors[0].control_mode, // rw
(int*)&motors[0].control_deadline, // rw
(int*)&motors[0].last_cpu_time, // ro
&motors[0].rotor.encoder_offset, // rw
&motors[0].rotor.encoder_state, // ro
&motors[0].error, // rw
(int*)&motors[1].control_mode, // rw
(int*)&motors[1].control_deadline, // rw
(int*)&motors[1].last_cpu_time, // ro
&motors[1].rotor.encoder_offset, // rw
&motors[1].rotor.encoder_state, // ro
&motors[1].error, // rw
@@ -857,7 +863,8 @@ static bool measure_phase_inductance(Motor_t* motor, float voltage_low, float vo
queue_voltage_timings(motor, test_voltages[i], 0.0f);
// Check we meet deadlines after queueing
if (!(check_timing(motor) < motor->control_deadline)) {
motor->last_cpu_time = check_timing(motor);
if(!(motor->last_cpu_time < motor->control_deadline)){
motor->error = ERROR_PHASE_INDUCTANCE_TIMING;
return false;
}
@@ -996,7 +1003,8 @@ static void scan_motor_loop(Motor_t* motor, float omega, float voltage_magnitude
queue_voltage_timings(motor, v_alpha, v_beta);
// Check we meet deadlines after queueing
if(!(check_timing(motor) < motor->control_deadline)){
motor->last_cpu_time = check_timing(motor);
if(!(motor->last_cpu_time < motor->control_deadline)){
motor->error = ERROR_SCAN_MOTOR_TIMING;
return;
}
@@ -1016,7 +1024,8 @@ static void FOC_voltage_loop(Motor_t* motor, float v_d, float v_q) {
queue_voltage_timings(motor, v_alpha, v_beta);
// Check we meet deadlines after queueing
if (!(check_timing(motor) < motor->control_deadline)) {
motor->last_cpu_time = check_timing(motor);
if(!(motor->last_cpu_time < motor->control_deadline)){
motor->error = ERROR_FOC_VOLTAGE_TIMING;
return;
}
@@ -1151,7 +1160,8 @@ static bool FOC_current(Motor_t* motor, float Id_des, float Iq_des) {
queue_modulation_timings(motor, mod_alpha, mod_beta);
// Check we meet deadlines after queueing
if(!(check_timing(motor) < motor->control_deadline)){
motor->last_cpu_time = check_timing(motor);
if(!(motor->last_cpu_time < motor->control_deadline)){
motor->error = ERROR_FOC_TIMING;
return false;
}
@@ -1240,11 +1250,11 @@ void motor_thread(void const * argument) {
#ifdef STANDALONE_MODE
//Only run tests on M0 for now
if (motor == &motors[1]) {
// TODO: figure out why M1 MOE must be enabled to run M0 correctly
__HAL_TIM_MOE_ENABLE(motor->motor_timer);
FOC_voltage_loop(motor, 0.0f, 0.0f);
}
// if (motor == &motors[1]) {
// // TODO: figure out why M1 MOE must be enabled to run M0 correctly
// __HAL_TIM_MOE_ENABLE(motor->motor_timer);
// FOC_voltage_loop(motor, 0.0f, 0.0f);
// }
motor->do_calibration = true;
motor->enable_control = true;
MotorControl/low_level.h
+1
View File
@@ -92,6 +92,7 @@ typedef struct {
TIM_HandleTypeDef* motor_timer;
uint16_t next_timings[3];
uint16_t control_deadline;
uint16_t last_cpu_time;
Iph_BC_t current_meas;
Iph_BC_t DC_calib;
DRV8301_Obj gate_driver;