Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-20 06:28:03 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge branch 'Wetmelon-current-scale' into devel

Browse Source
This commit is contained in:
Oskar Weigl
2017-11-24 16:15:01 -08:00
parent 0d7d5647f6 638b829d97
commit 3da0275370
2 changed files with 22 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/low_level.c
+21 -3
View File
@@ -39,6 +39,14 @@ float vbus_voltage = 12.0f;
#define POLE_PAIRS 7
static float elec_rad_per_enc = POLE_PAIRS * 2 * M_PI * (1.0f / (float)ENCODER_CPR);
#if HW_VERSION_MAJOR == 3
#if HW_VERSION_MINOR <= 3
#define SHUNT_RESISTANCE (675e-6f)
#else
#define SHUNT_RESISTANCE (500e-6f)
#endif
#endif
// TODO: Migrate to C++, clearly we are actually doing object oriented code here...
// TODO: For nice encapsulation, consider not having the motor objects public
Motor_t motors[] = {
@@ -83,7 +91,7 @@ Motor_t motors[] = {
.enableTimeOut = false,
},
// .gate_driver_regs Init by DRV8301_setup
.shunt_conductance = 1.0f/0.0005f, //[S]
.shunt_conductance = 1.0f/SHUNT_RESISTANCE, //[S]
.phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
.current_control = {
// .current_lim = 75.0f, //[A] // If setting higher than 75A, you MUST change DRV8301_ShuntAmpGain. TODO: make this automatic
@@ -96,6 +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,
@@ -175,7 +184,7 @@ Motor_t motors[] = {
.enableTimeOut = false,
},
// .gate_driver_regs Init by DRV8301_setup
.shunt_conductance = 1.0f/0.0005f, //[S]
.shunt_conductance = 1.0f/SHUNT_RESISTANCE, //[S]
.phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
.current_control = {
// .current_lim = 75.0f, //[A] // If setting higher than 75A, you MUST change DRV8301_ShuntAmpGain. TODO: make this automatic
@@ -188,6 +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 = {
@@ -391,7 +401,10 @@ static void DRV8301_setup(Motor_t* motor) {
local_regs->Ctrl_Reg_1.OC_ADJ_SET = DRV8301_VdsLevel_0p730_V;
// 20V/V on 500uOhm gives a range of +/- 150A
// 40V/V on 500uOhm gives a range of +/- 75A
// 20V/V on 666uOhm gives a range of +/- 110A
// 40V/V on 666uOhm gives a range of +/- 55A
local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_40VpV;
// local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_20VpV;
switch (local_regs->Ctrl_Reg_2.GAIN) {
case DRV8301_ShuntAmpGain_10VpV:
@@ -408,6 +421,11 @@ static void DRV8301_setup(Motor_t* motor) {
break;
}
float margin = 0.90f;
float max_input = margin * 0.3f * motor->shunt_conductance;
float max_swing = margin * 1.6f * motor->shunt_conductance * motor->phase_current_rev_gain;
motor->current_control.max_allowed_current = MACRO_MIN(max_input, max_swing);
local_regs->SndCmd = true;
DRV8301_writeData(gate_driver, local_regs);
local_regs->RcvCmd = true;
@@ -1293,7 +1311,7 @@ static void control_motor_loop(Motor_t* motor) {
}
// Current limiting
float Ilim = motor->current_control.current_lim;
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
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 {