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even fancier

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This commit is contained in:
Oskar Weigl
2016-11-28 01:20:54 +09:00
parent 7641faed00
commit 597761c573
2 changed files with 8 additions and 6 deletions
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Makefile
+1 -1
View File
@@ -13,7 +13,7 @@ TARGET = ODriveFirmware
# debug build?
DEBUG = 1
# optimization
OPT = -O0
OPT = -Os
#######################################
# pathes
MotorControl/low_level.c
+7 -5
View File
@@ -56,7 +56,7 @@ static void init_encoders();
static void start_adc_pwm();
static float phase_current_from_adcval(uint32_t ADCValue, int motornum);
static void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc);
static void mark_timing();
static bool check_timing();
static void set_timings(Motor_t* motor, float tA, float tB, float tC);
static void wait_for_current_meas(osMailQId queue, float* phB_current, float* phC_current);
static float measure_phase_resistance(Motor_t* motor, float test_current);
@@ -64,7 +64,7 @@ static float measure_phase_resistance(Motor_t* motor, float test_current);
//Special function name for ADC callback.
//Automatically registered if defined.
void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc) {
//mark_timing();
// check_timing();
pwm_trig_adc_cb(hadc);
}
@@ -231,6 +231,7 @@ static void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
mail_ptr->current_phB = phB_current - phB_DC_calib;
mail_ptr->current_phC = phC_current - phC_DC_calib;
osMailPut(M0_Iph_queue, mail_ptr);
check_timing();
} else if (trig_src == ADC_EXTERNALTRIGINJECCONV_T1_TRGO) {
//We are measuring DC_CAL here
@@ -253,7 +254,7 @@ static void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
}
}
void mark_timing() {
static bool check_timing() {
#define log_size 32
static uint16_t timings[log_size];
static int idx = 0;
@@ -270,6 +271,7 @@ void mark_timing() {
idx = 0;
timings[idx] = timing;
return down;
}
static void wait_for_current_meas(osMailQId queue, float* phB_current, float* phC_current) {
@@ -344,7 +346,7 @@ static void square_wave_test() {
float M0_phB_current, M0_phC_current;
wait_for_current_meas(M0_Iph_queue, &M0_phB_current, &M0_phC_current);
mark_timing();
check_timing();
float Ialpha = -M0_phB_current - M0_phC_current;
float delta = Ialpha - mean[i][rep];
@@ -358,7 +360,7 @@ static void square_wave_test() {
SVM(mod, 0.0f, &tA, &tB, &tC);
set_timings(&motors[0], tA, tB, tC);
mark_timing();
safe_assert(!check_timing());
}
}
++cycle_num;