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Revert "Handle current scaling factor for HW versions <= 3.3"

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This reverts commit fefa091de2.
This commit is contained in:
Paul Guenette
2017-11-22 20:46:51 -05:00
parent fefa091de2
commit 62be001ca2
2 changed files with 2 additions and 15 deletions
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Firmware/MotorControl/low_level.c
+2 -14
View File
@@ -39,8 +39,6 @@ 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);
#define CURRENT_SCALING_FACTOR (1.31578947f)
// 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[] = {
@@ -621,12 +619,7 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
} else {
ADCValue = HAL_ADC_GetValue(hadc);
}
if(HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR <= 3){
float current = phase_current_from_adcval(motor, ADCValue)*CURRENT_SCALING_FACTOR;
} else {
float current = phase_current_from_adcval(motor, ADCValue);
}
float current = phase_current_from_adcval(motor, ADCValue);
if (current_meas_not_DC_CAL) {
// ADC2 and ADC3 record the phB and phC currents concurrently,
@@ -1300,12 +1293,7 @@ static void control_motor_loop(Motor_t* motor) {
}
// Current limiting
if(HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR <= 3){
float Ilim = motor->current_control.current_lim*CURRENT_SCALING_FACTOR;
} else{
float Ilim = motor->current_control.current_lim;
}
float Ilim = motor->current_control.current_lim;
bool limited = false;
if (Iq > Ilim) {
limited = true;
Firmware/MotorControl/utils.h
-1
View File
@@ -70,7 +70,6 @@
#define MACRO_MAX(x, y) (((x) > (y)) ? (x) : (y))
#define MACRO_MIN(x, y) (((x) < (y)) ? (x) : (y))
#define MACRO_CONSTRAIN(amt,low,high) (((amt)<(low)) ? (low) : ((amt > high) ? (high) : (amt)))
// Compute rising edge timings (0.0 - 1.0) as a function of alpha-beta
// as per the magnitude invariant clarke transform