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change HW version to v3.4

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This commit is contained in:
Oskar Weigl
2017-12-10 16:16:35 -08:00
parent 685f9c821c
commit f301d3cac4
3 changed files with 7 additions and 7 deletions
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Firmware/Inc/main.h
+1 -1
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@@ -53,7 +53,7 @@
/* USER CODE BEGIN Includes */
#define HW_VERSION_MAJOR 3
#define HW_VERSION_MINOR 3
#define HW_VERSION_MINOR 4
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 1 \
|| HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 2
Firmware/MotorControl/commands.cpp
+4 -4
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@@ -108,8 +108,8 @@ const Endpoint endpoints[] = {
Endpoint::make_property("calibration_current", &motors[0].calibration_current),
Endpoint::make_property("phase_inductance", const_cast<const float*>(&motors[0].phase_inductance)),
Endpoint::make_property("phase_resistance", const_cast<const float*>(&motors[0].phase_resistance)),
Endpoint::make_property("current_meas.phB", const_cast<const float*>(&motors[0].current_meas.phB)),
Endpoint::make_property("current_meas.phC", const_cast<const float*>(&motors[0].current_meas.phC)),
Endpoint::make_property("current_meas_phB", const_cast<const float*>(&motors[0].current_meas.phB)),
Endpoint::make_property("current_meas_phC", const_cast<const float*>(&motors[0].current_meas.phC)),
Endpoint::make_property("DC_calib.phB", &motors[0].DC_calib.phB),
Endpoint::make_property("DC_calib.phC", &motors[0].DC_calib.phC),
Endpoint::make_property("shunt_conductance", &motors[0].shunt_conductance),
@@ -161,8 +161,8 @@ const Endpoint endpoints[] = {
Endpoint::make_property("calibration_current", &motors[1].calibration_current),
Endpoint::make_property("phase_inductance", const_cast<const float*>(&motors[1].phase_inductance)),
Endpoint::make_property("phase_resistance", const_cast<const float*>(&motors[1].phase_resistance)),
Endpoint::make_property("current_meas.phB", const_cast<const float*>(&motors[1].current_meas.phB)),
Endpoint::make_property("current_meas.phC", const_cast<const float*>(&motors[1].current_meas.phC)),
Endpoint::make_property("current_meas_phB", const_cast<const float*>(&motors[1].current_meas.phB)),
Endpoint::make_property("current_meas_phC", const_cast<const float*>(&motors[1].current_meas.phC)),
Endpoint::make_property("DC_calib.phB", &motors[1].DC_calib.phB),
Endpoint::make_property("DC_calib.phC", &motors[1].DC_calib.phC),
Endpoint::make_property("shunt_conductance", &motors[1].shunt_conductance),
Firmware/MotorControl/low_level.c
+2 -2
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@@ -636,8 +636,8 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
// TODO check Ibeta balance to verify good motor connection
bool measure_phase_resistance(Motor_t* motor, float test_current, float max_voltage) {
static const float kI = 10.0f; //[(V/s)/A]
static const int num_test_cycles = 3.0f / CURRENT_MEAS_PERIOD; // Test runs for 3s
static const float kI = 10.0f; // [(V/s)/A]
static const int num_test_cycles = 3.0f / CURRENT_MEAS_PERIOD; // Test runs for 3s
float test_voltage = 0.0f;
for (int i = 0; i < num_test_cycles; ++i) {
osEvent evt = osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT);