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curpid en

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This commit is contained in:
crinq
2017-08-10 21:03:17 +02:00
parent f2d8fb719c
commit 21699cf9cd
2 changed files with 13 additions and 2 deletions
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shared/comps/curpid.c
+12 -2
View File
@@ -6,6 +6,9 @@
HAL_COMP(curpid);
// enable
HAL_PIN(en);
// current command
HAL_PIN(id_cmd);
HAL_PIN(iq_cmd);
@@ -102,13 +105,20 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
ctx->iq_error_sum = LIMIT(ctx->iq_error_sum + kpq * kiq * iq_error, max_volt - uq);
}
else{
ctx->id_error_sum = 0;
ctx->iq_error_sum = 0;
ctx->id_error_sum = 0.0;
ctx->iq_error_sum = 0.0;
}
ud += ctx->id_error_sum;
uq += ctx->iq_error_sum;
if(PIN(en) <= 0.0){
ud = 0.0;
uq = 0.0;
ctx->id_error_sum = 0.0;
ctx->iq_error_sum = 0.0;
}
PIN(ud) = ud;
PIN(uq) = uq;
stm32f303/src/main.c
+1
View File
@@ -346,6 +346,7 @@ int main(void)
hal_parse("curpid0.max_cur = ls0.max_cur");
hal_parse("curpid0.pwm_volt = ls0.pwm_volt");
hal_parse("curpid0.vel = ls0.vel");
hal_parse("curpid0.en = ls0.en");
// hal parse config
// hal_init_nrt();