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Shunt conductance depends on HW verison

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This commit is contained in:
Paul Guenette
2017-11-22 20:48:43 -05:00
parent 62be001ca2
commit 63d8a12f6e
1 changed files with 10 additions and 2 deletions
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Firmware/MotorControl/low_level.c
+10 -2
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@@ -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 < 4
#define SHUNT_RESISTANCE (666e-6)
#else
#define SHUNT_RESISTANCE (500e-6)
#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
@@ -175,7 +183,7 @@ 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