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Merge branch 'timing' into devel_fast

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This commit is contained in:
Paul Guenette
2020-10-30 21:26:31 -04:00
parent 53a976fe6b f9fa06c86f
commit a428d08ecd
13 changed files with 189 additions and 17 deletions
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Firmware/MotorControl/low_level.cpp
+24 -2
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@@ -31,6 +31,7 @@ constexpr float adc_ref_voltage = 3.3f;
// Arbitrary non-zero inital value to avoid division by zero if ADC reading is late
float vbus_voltage = 12.0f;
float ibus_ = 0.0f; // exposed for monitoring only
bool task_timers_armed = false;
bool brake_resistor_armed = false;
bool brake_resistor_saturated = false;
/* Private constant data -----------------------------------------------------*/
@@ -385,6 +386,8 @@ void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
// This is the callback from the ADC that we expect after the PWM has triggered an ADC conversion.
// Timing diagram: Firmware/timing_diagram_v3.png
void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
adc_timestamp = sample_TIM13();
#define calib_tau 0.2f //@TOTO make more easily configurable
constexpr float calib_filter_k = CURRENT_MEAS_PERIOD / calib_tau;
@@ -405,10 +408,12 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
bool current_meas_not_DC_CAL = !counting_down;
// Check the timing of the sequencing
if (current_meas_not_DC_CAL)
if (current_meas_not_DC_CAL) {
axis.motor_.log_timing(TIMING_LOG_ADC_CB_I);
else
}
else {
axis.motor_.log_timing(TIMING_LOG_ADC_CB_DC);
}
bool update_timings = false;
if (hadc == &hadc2) {
@@ -453,6 +458,19 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
}
float current = axis.motor_.phase_current_from_adcval(ADCValue);
if(current_meas_not_DC_CAL && axis_num == 0 && hadc == &hadc2){
if (task_timers_armed) {
TaskTimer::sample_next = true;
task_timers_armed = false;
axes[0].task_times_.adc_cb.startTime = adc_timestamp; // Start of ADC2
}
}
if(current_meas_not_DC_CAL && axis_num == 0 && hadc == &hadc3){
axes[0].task_times_.adc_cb.stopTimer(); // End of ADC3
}
if (current_meas_not_DC_CAL) {
// ADC2 and ADC3 record the phB and phC currents concurrently,
// and their interrupts should arrive on the same clock cycle.
@@ -485,6 +503,8 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
// @brief Sums up the Ibus contribution of each motor and updates the
// brake resistor PWM accordingly.
void update_brake_current() {
axes[0].task_times_.brake_update.beginTimer();
axes[1].task_times_.brake_update.beginTimer();
float Ibus_sum = 0.0f;
for (size_t i = 0; i < AXIS_COUNT; ++i) {
if (axes[i].motor_.armed_state_ == Motor::ARMED_STATE_ARMED) {
@@ -533,6 +553,8 @@ void update_brake_current() {
int low_off = high_on - TIM_APB1_DEADTIME_CLOCKS;
if (low_off < 0) low_off = 0;
safety_critical_apply_brake_resistor_timings(low_off, high_on);
axes[0].task_times_.brake_update.stopTimer();
axes[1].task_times_.brake_update.stopTimer();
}