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motor 1 adc measurements not working for some reason

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This commit is contained in:
Oskar Weigl
2016-12-11 19:54:37 +09:00
parent 529849f4b7
commit 8bf2c2ea71
2 changed files with 13 additions and 9 deletions
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MotorControl/low_level.c
+11 -7
View File
@@ -27,7 +27,7 @@
/* Private typedef -----------------------------------------------------------*/
/* Global constant data ------------------------------------------------------*/
/* Global variables ----------------------------------------------------------*/
float vbus_voltage = 12.0; //Arbitrary non-zero inital value to avoid division by zero if ADC reading is late
float vbus_voltage = 12.0f; //Arbitrary non-zero inital value to avoid division by zero if ADC reading is late
Motor_t motors[] = {
{ //M0
@@ -353,8 +353,12 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
safe_assert(0);
}
//Only one conversion in sequence, so only rank1
uint32_t ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
uint32_t ADCValue;
if (reg_edge != ADC_EXTERNALTRIGCONVEDGE_NONE) {
ADCValue = HAL_ADC_GetValue(hadc);
} else {
ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
}
//@TODO remove hardcoded motornum
float current = phase_current_from_adcval(ADCValue, 0);
@@ -419,9 +423,9 @@ static void wait_for_current_meas(Motor_t* motor, float* phB_current, float* phC
static float measure_phase_resistance(Motor_t* motor, float test_current, float max_voltage) {
static const float kI = 10.0f; //[(V/s)/A]
static float test_voltage = 0.0f;
static const int num_test_cycles = 3.0f / CURRENT_MEAS_PERIOD;
float test_voltage = 0.0f;
for (int i = 0; i < num_test_cycles; ++i) {
float IphB, IphC;
wait_for_current_meas(motor, &IphB, &IphC);
@@ -461,7 +465,7 @@ static float measure_phase_inductance(Motor_t* motor, float voltage_low, float v
SVM(mod, 0.0f, &tA, &tB, &tC);
//Check that we are still up-counting
safe_assert(check_timing(motor->timer_handle, timing_logs[0], &timing_log_index[0]) < TIM_PERIOD_CLOCKS);
// safe_assert(check_timing(motor->timer_handle, timing_logs[0], &timing_log_index[0]) < TIM_PERIOD_CLOCKS);
// Wait until down-counting
// @TODO: Do not block like this, use interrupt on timer update
@@ -504,7 +508,7 @@ static void scan_motor(Motor_t* motor, float omega, float voltage_magnitude) {
set_timings(motor, tA, tB, tC);
//Check that we are still up-counting
safe_assert(check_timing(motor->timer_handle, timing_logs[0], &timing_log_index[0]) < TIM_PERIOD_CLOCKS);
// safe_assert(check_timing(motor->timer_handle, timing_logs[0], &timing_log_index[0]) < TIM_PERIOD_CLOCKS);
if (abs(htim3.Instance->CNT) > 1000 || abs(htim4.Instance->CNT) > 1000){
int test = 1;
@@ -519,7 +523,7 @@ void motor_thread(void const * argument) {
motor->thread_ready = true;
float test_current = 4.0f;
float R = measure_phase_resistance(motor, test_current, 1.5f);
float R = measure_phase_resistance(motor, test_current, 1.0f);
scan_motor(motor, 10.0f, test_current * R);
// float L = measure_phase_inductance(motor, -1.0f, 1.0f);
Src/freertos.c
+2 -2
View File
@@ -114,8 +114,8 @@ void StartDefaultTask(void const * argument)
init_motor_control();
// Start motor threads
osThreadCreate(osThread(task_motor_0), &motors[0]);
// osThreadCreate(osThread(task_motor_1), &motors[1]);
// osThreadCreate(osThread(task_motor_0), &motors[0]);
osThreadCreate(osThread(task_motor_1), &motors[1]);
//If we get to here, then the default task is done.
vTaskDelete(defaultTaskHandle);