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Move max_allowed_current to current_control struct

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This commit is contained in:
Paul Guenette
2017-11-22 21:11:38 -05:00
parent f115a74dde
commit 161651ae48
2 changed files with 6 additions and 6 deletions
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Firmware/MotorControl/low_level.c
+5 -5
View File
@@ -104,6 +104,7 @@ Motor_t motors[] = {
.final_v_alpha = 0.0f,
.final_v_beta = 0.0f,
.Iq = 0.0f,
.max_allowed_current = 0.0f,
},
// .rotor_mode = ROTOR_MODE_SENSORLESS,
// .rotor_mode = ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS,
@@ -144,7 +145,6 @@ Motor_t motors[] = {
.calib_pos_threshold = 1.0f,
.calib_vel_threshold = 1.0f,
},
.max_allowed_current = 0.0f,
},
{ // M1
.control_mode = CTRL_MODE_POSITION_CONTROL, //see: Motor_control_mode_t
@@ -197,6 +197,7 @@ Motor_t motors[] = {
.final_v_alpha = 0.0f,
.final_v_beta = 0.0f,
.Iq = 0.0f,
.max_allowed_current = 0.0f,
},
.rotor_mode = ROTOR_MODE_ENCODER,
.encoder = {
@@ -234,8 +235,7 @@ Motor_t motors[] = {
.calib_anticogging = false,
.calib_pos_threshold = 1.0f,
.calib_vel_threshold = 1.0f,
},
.max_allowed_current = 0.0f,
}
}
};
const int num_motors = sizeof(motors)/sizeof(motors[0]);
@@ -422,7 +422,7 @@ static void DRV8301_setup(Motor_t* motor) {
float margin = 0.95f;
float max_input = margin * 0.3f * motor->shunt_conductance;
float max_swing = margin * 1.6f * motor->shunt_conductance * motor->phase_current_rev_gain;
motor->max_allowed_current = MACRO_MIN(max_input, max_swing);
motor->current_control.max_allowed_current = MACRO_MIN(max_input, max_swing);
local_regs->SndCmd = true;
DRV8301_writeData(gate_driver, local_regs);
@@ -1309,7 +1309,7 @@ static void control_motor_loop(Motor_t* motor) {
}
// Current limiting
float Ilim = MACRO_MIN(motor->current_control.current_lim, motor->max_allowed_current);
float Ilim = MACRO_MIN(motor->current_control.current_lim, motor->current_control.max_allowed_current);
bool limited = false;
if (Iq > Ilim) {
limited = true;
Firmware/MotorControl/low_level.h
+1 -1
View File
@@ -71,6 +71,7 @@ typedef struct {
float final_v_alpha; // [V]
float final_v_beta; // [V]
float Iq;
float max_allowed_current;
} Current_control_t;
typedef enum {
@@ -146,7 +147,6 @@ typedef struct {
int timing_log_index;
uint16_t timing_log[TIMING_LOG_SIZE];
Anticogging_t anticogging;
float max_allowed_current;
} Motor_t;
typedef struct{