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Implement current noise test

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This commit is contained in:
Oskar Weigl
2017-02-03 19:04:46 +01:00
parent 1bc7742071
commit e4af04aa3d
1 changed files with 11 additions and 1 deletions
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MotorControl/low_level.c
+11 -1
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@@ -437,6 +437,16 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc) {
if (motor->thread_ready)
osSignalSet(motor->motor_thread, M_SIGNAL_PH_CURRENT_MEAS);
static float M0C_avg = 0.0f;
static float M0C_avg_sqr_delta = 0.0f;
static const float k = 1.0f/5000.0f;
if (motor == &motors[0] && hadc == &hadc3) {
float delta = current - M0C_avg;
M0C_avg += k * delta;
float dd_sqr = (delta * delta) - M0C_avg_sqr_delta;
M0C_avg_sqr_delta += k * dd_sqr;
}
} else {
// DC_CAL measurement
if (hadc == &hadc2) {
@@ -765,7 +775,7 @@ void motor_thread(void const * argument) {
motor->rotor.pll_ki = 0.25f * (motor->rotor.pll_kp * motor->rotor.pll_kp);
// FOC_voltage_loop(motor, 0.0f, 0.0f);
scan_motor_loop(motor, 1000.0f, 0.2f*test_current * R);
scan_motor_loop(motor, 0*1000.0f, 0.4f*test_current * R);
// FOC_voltage_loop(motor, 0.0f, 0.8f);
// FOC_current_loop(motor, 0.0f, 0.0f);
// static const float test_vel = 10000.0f; // [counts/s]