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move out FOC voltage out of loop

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This commit is contained in:
Oskar Weigl
2018-01-22 15:11:29 -08:00
parent 36e739be60
commit 6481e00d0e
2 changed files with 17 additions and 13 deletions
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Firmware/MotorControl/low_level.c
+16 -13
View File
@@ -877,19 +877,7 @@ __attribute__((unused)) void FOC_voltage_loop(Motor_t* motor, float v_d, float v
osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, osWaitForever);
update_rotor(motor);
float phase = get_rotor_phase(motor);
float c = arm_cos_f32(phase);
float s = arm_sin_f32(phase);
float v_alpha = c * v_d - s * v_q;
float v_beta = c * v_q + s * v_d;
queue_voltage_timings(motor, v_alpha, v_beta);
// Check we meet deadlines after queueing
motor->last_cpu_time = check_timing(motor);
if (!(motor->last_cpu_time < motor->control_deadline)) {
motor->error = ERROR_FOC_VOLTAGE_TIMING;
return;
}
FOC_voltage(motor, v_d, v_q);
}
}
@@ -1155,6 +1143,21 @@ void queue_voltage_timings(Motor_t* motor, float v_alpha, float v_beta) {
queue_modulation_timings(motor, mod_alpha, mod_beta);
}
void FOC_voltage(Motor_t* motor, float v_d, float v_q) {
float phase = get_rotor_phase(motor);
float c = arm_cos_f32(phase);
float s = arm_sin_f32(phase);
float v_alpha = c*v_d - s*v_q;
float v_beta = c*v_q + s*v_d;
queue_voltage_timings(motor, v_alpha, v_beta);
// Check we meet deadlines after queueing
if (!(check_timing(motor) < motor->control_deadline)) {
motor->error = ERROR_FOC_VOLTAGE_TIMING;
return;
}
}
bool FOC_current(Motor_t* motor, float Id_des, float Iq_des) {
Current_control_t* ictrl = &motor->current_control;
Firmware/MotorControl/low_level.h
+1
View File
@@ -237,6 +237,7 @@ void update_brake_current();
void set_brake_current(float brake_current);
void queue_modulation_timings(Motor_t* motor, float mod_alpha, float mod_beta);
void queue_voltage_timings(Motor_t* motor, float v_alpha, float v_beta);
void FOC_voltage(Motor_t* motor, float v_d, float v_q);
bool FOC_current(Motor_t* motor, float Id_des, float Iq_des);
void control_motor_loop(Motor_t* motor);