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current conversion in adc callback

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This commit is contained in:
Oskar Weigl
2016-11-12 19:51:49 +09:00
parent dfe2bd3d24
commit 8c58c7e645
1 changed files with 58 additions and 22 deletions
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MotorControl/test.c
+58 -22
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@@ -44,29 +44,36 @@ void start_adc_pwm(){
}
DRV8301_Obj gate_drivers[] = {
{
//M0
typedef struct Motor_s {
DRV8301_Obj gate_driver;
float shunt_conductance;
} Motor_t;
.spiHandle = &hspi3,
//Note: this board has the EN_Gate pin shared!
.EngpioHandle = EN_GATE_GPIO_Port,
.EngpioNumber = EN_GATE_Pin,
.nCSgpioHandle = M0_nCS_GPIO_Port,
.nCSgpioNumber = M0_nCS_Pin,
.RxTimeOut = false,
.enableTimeOut = false
Motor_t motor_configs[] = {
{ //M0
.gate_driver = {
.spiHandle = &hspi3,
//Note: this board has the EN_Gate pin shared!
.EngpioHandle = EN_GATE_GPIO_Port,
.EngpioNumber = EN_GATE_Pin,
.nCSgpioHandle = M0_nCS_GPIO_Port,
.nCSgpioNumber = M0_nCS_Pin,
.RxTimeOut = false,
.enableTimeOut = false
},
.shunt_conductance = 1.0f/0.0005f
}
};
static const int num_motors = sizeof(gate_drivers)/sizeof(gate_drivers[0]);
static const int num_motors = sizeof(motor_configs)/sizeof(motor_configs[0]);
//Local view of DRV registers
static DRV_SPI_8301_Vars_t gate_driver_regs[1/*num_motors*/];
void test_DRV8301_setup() {
for (int i = 0; i < num_motors; ++i) {
DRV8301_enable(&gate_drivers[i]);
DRV8301_setupSpi(&gate_drivers[i], &gate_driver_regs[i]);
DRV8301_enable(&motor_configs[i].gate_driver);
DRV8301_setupSpi(&motor_configs[i].gate_driver, &gate_driver_regs[i]);
//@TODO we can use reporting only if we actually wire up the nOCTW pin
gate_driver_regs[i].Ctrl_Reg_1.OC_MODE = DRV8301_OcMode_LatchShutDown;
@@ -76,9 +83,9 @@ void test_DRV8301_setup() {
gate_driver_regs[i].Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_20VpV;
gate_driver_regs[i].SndCmd = true;
DRV8301_writeData(&gate_drivers[i], &gate_driver_regs[i]);
DRV8301_writeData(&motor_configs[i].gate_driver, &gate_driver_regs[i]);
gate_driver_regs[i].RcvCmd = true;
DRV8301_readData(&gate_drivers[i], &gate_driver_regs[i]);
DRV8301_readData(&motor_configs[i].gate_driver, &gate_driver_regs[i]);
}
}
@@ -158,7 +165,36 @@ void test_adc_hist_cb(ADC_HandleTypeDef* hadc) {
}
/////////////////////////////////////////////////
float phase_current_from_adcval(uint32_t ADCValue, int motornum) {
float rev_gain;
switch (gate_driver_regs[motornum].Ctrl_Reg_2.GAIN) {
case DRV8301_ShuntAmpGain_10VpV:
rev_gain = 1.0f/10.0f;
break;
case DRV8301_ShuntAmpGain_20VpV:
rev_gain = 1.0f/20.0f;
break;
case DRV8301_ShuntAmpGain_40VpV:
rev_gain = 1.0f/40.0f;
break;
case DRV8301_ShuntAmpGain_80VpV:
rev_gain = 1.0f/80.0f;
break;
}
int adcval_bal = (int)ADCValue - (1<<11);
float amp_out_volt = (3.3f/(float)(1<<12)) * (float)adcval_bal;
float shunt_volt = amp_out_volt * rev_gain;
float current = shunt_volt * motor_configs[motornum].shunt_conductance;
return current;
}
void test_pwm_from_adc_cb(ADC_HandleTypeDef* hadc) {
//Only one conversion in sequence, so only rank1
uint32_t ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
float M0_phB_current = phase_current_from_adcval(ADCValue, 0);
int half_load = htim1.Instance->ARR/2;
htim1.Instance->CCR1 = half_load - 400;
htim1.Instance->CCR2 = half_load + 400;
@@ -169,11 +205,11 @@ void test_pwm_from_adc_cb(ADC_HandleTypeDef* hadc) {
void test_motor_thread(void const * argument) {
int test = 0;
while(1) {
++test;
osDelay(10);
}
int test = 0;
while(1) {
++test;
osDelay(10);
}
}
@@ -183,7 +219,7 @@ void test_main(void) {
//test_adc_trigger();
test_DRV8301_setup();
osDelay(10000);
osDelay(1000);
start_adc_pwm();
}