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add coherent sampling and 1.5 cycle pwm phase advance

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This commit is contained in:
Oskar Weigl
2019-02-01 21:01:45 -08:00
parent 7384f2a7ee
commit a86fb3e59b
7 changed files with 79 additions and 30 deletions
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Firmware/MotorControl/low_level.cpp
+17 -4
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@@ -539,6 +539,7 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
axis.motor_.current_meas_.phC = current - axis.motor_.DC_calib_.phC;
}
// Prepare hall readings
// TODO move this to inside encoder update function
decode_hall_samples(axis.encoder_, GPIO_port_samples[axis_num]);
// Trigger axis thread
axis.signal_current_meas();
@@ -553,18 +554,30 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
}
void tim_update_cb(TIM_HandleTypeDef* htim) {
int portsamples_arr;
// If the corresponding timer is counting up, we just sampled in SVM vector 0, i.e. real current
// If we are counting down, we just sampled in SVM vector 7, with zero current
bool counting_down = htim->Instance->CR1 & TIM_CR1_DIR;
if (counting_down)
return;
int sample_ch;
Axis* axis;
if (htim == &htim1) {
portsamples_arr = 0;
sample_ch = 0;
axis = axes[0];
} else if (htim == &htim8) {
portsamples_arr = 1;
sample_ch = 1;
axis = axes[1];
} else {
low_level_fault(Motor::ERROR_UNEXPECTED_TIMER_CALLBACK);
return;
}
axis->encoder_.sample_now();
for (int i = 0; i < num_GPIO; ++i) {
GPIO_port_samples[portsamples_arr][i] = GPIOs_to_samp[i]->IDR;
GPIO_port_samples[sample_ch][i] = GPIOs_to_samp[i]->IDR;
}
}