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fix float literals, safer margin, extra instruction

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This commit is contained in:
Oskar Weigl
2017-11-24 14:41:08 -08:00
parent 161651ae48
commit cd2de216a5
1 changed files with 6 additions and 4 deletions
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Firmware/MotorControl/low_level.c
+6 -4
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@@ -41,9 +41,9 @@ static float elec_rad_per_enc = POLE_PAIRS * 2 * M_PI * (1.0f / (float)ENCODER_C
#if HW_VERSION_MAJOR == 3
#if HW_VERSION_MINOR < 4
#define SHUNT_RESISTANCE (666e-6)
#define SHUNT_RESISTANCE (666e-6f)
#else
#define SHUNT_RESISTANCE (500e-6)
#define SHUNT_RESISTANCE (500e-6f)
#endif
#endif
@@ -401,10 +401,12 @@ static void DRV8301_setup(Motor_t* motor) {
local_regs->Ctrl_Reg_1.OC_ADJ_SET = DRV8301_VdsLevel_0p730_V;
// 20V/V on 500uOhm gives a range of +/- 150A
// 40V/V on 500uOhm gives a range of +/- 75A
// 20V/V on 666uOhm gives a range of +/- 110A
// 40V/V on 666uOhm gives a range of +/- 55A
local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_40VpV;
// local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_20VpV;
switch (local_regs->Ctrl_Reg_2.GAIN) {
case DRV8301_ShuntAmpGain_10VpV:
motor->phase_current_rev_gain = 1.0f/10.0f;
break;
@@ -419,7 +421,7 @@ static void DRV8301_setup(Motor_t* motor) {
break;
}
float margin = 0.95f;
float margin = 0.90f;
float max_input = margin * 0.3f * motor->shunt_conductance;
float max_swing = margin * 1.6f * motor->shunt_conductance * motor->phase_current_rev_gain;
motor->current_control.max_allowed_current = MACRO_MIN(max_input, max_swing);