f3 volt cmd

conf/template/acim.txt

@@ -20,5 +20,6 @@ acim_ttc0.vel = vel1.vel
 acim_ttc0.mode = 0
 hv0.q_cmd = acim_ttc0.iq
 hv0.d_cmd = acim_ttc0.id
-hv0.mode = 1
+hv0.cmd_mode = 1
+hv0.phase_mode = 2
 hv0.pos = acim_ttc0.pos

conf/template/pmsm.txt

@@ -18,4 +18,5 @@ pid0.min_torque = pmsm_limits0.min_torque
 pid0.max_vel = pmsm_limits0.abs_max_vel
 pmsm_ttc0.torque = pid0.torque_cor_cmd
 hv0.q_cmd = pmsm_ttc0.cur
-hv0.mode = 1
+hv0.cmd_mode = 1
+hv0.phase_mode = 2

shared/common.h

@@ -34,17 +34,29 @@ typedef struct{
    float vel;
    float value;
    uint16_t addr;
-   union {
-      uint16_t enable : 1;
-      uint16_t foo;
-   } flags;
+   union{
+    struct{
+        uint16_t enable : 1;
+        enum packet_to_hv_cmd_type_t{
+          VOLT_MODE = 0,
+          CURRENT_MODE,
+        } cmd_type : 1;
+        enum packet_to_hv_phase_type_t{
+          PHASE_90_3PH = 0,
+          PHASE_90_4PH,
+          PHASE_120_3PH,
+          PHASE_180_2PH,
+          PHASE_180_3PH,
+        } phase_type : 3;
+    } flags;
+    uint16_t foo;
+  };
    uint32_t crc;
 } packet_to_hv_t;
 
 #pragma pack(1)
 typedef union {
    struct f3_config_data_temp{
-      float mode;
       float r;
       float l;
       float psi;

shared/comps/curpid.c

@@ -1,4 +1,5 @@
 #include "commands.h"
+#include "common.h"
 #include "hal.h"
 #include "math.h"
 #include "defines.h"
@@ -8,6 +9,7 @@ HAL_COMP(curpid);
 
 // enable
 HAL_PIN(en);
+HAL_PIN(cmd_mode);
 
 // current command
 HAL_PIN(id_cmd);
@@ -112,6 +114,15 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
    ud += ctx->id_error_sum;
    uq += ctx->iq_error_sum;
 
+   if(PIN(cmd_mode) == VOLT_MODE){
+    ud = LIMIT(PIN(id_cmd), max_volt);
+    uq = LIMIT(PIN(iq_cmd), max_volt);
+    ctx->id_error_sum = 0.0;
+    ctx->iq_error_sum = 0.0;
+    id_error = 0.0;
+    iq_error = 0.0;
+   }
+
    if(PIN(en) <= 0.0){
       ud = 0.0;
       uq = 0.0;

shared/comps/dq.c

@@ -1,4 +1,5 @@
 #include "commands.h"
+#include "common.h"
 #include "hal.h"
 #include "math.h"
 #include "defines.h"
@@ -38,23 +39,29 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
   float a, b, y;
 
   switch((int)PIN(mode)){
-    case 0: // 90°
+    case PHASE_90_3PH: // 90°
       a = u - v;
       b = w - v;
       y = u / 3.0 + v / 3.0 + w / 3.0;
-      break;
+    break;
 
-    case 1: // 120°
+    case PHASE_120_3PH: // 120°
       a = u * 2.0 / 3.0 - v / 3.0 - w / 3.0;
       b = v / M_SQRT3 - w / M_SQRT3;
       y = u / 3.0 + v / 3.0 + w / 3.0;
-      break;
+    break;
 
-    case 2: // 180°
+    case PHASE_180_2PH: // 180°
       a = 0;
       b = (u - w) / 2.0;
       y = (u + w) / 2.0;
-      break;
+    break;
+    
+    case PHASE_180_3PH: // 180°
+      a = v;
+      b = (u - w) / 2.0;
+      y = (u + w) / 2.0;
+    break;
 
     default:
       a = 0.0;

shared/comps/idq.c

@@ -1,4 +1,5 @@
 #include "commands.h"
+#include "common.h"
 #include "hal.h"
 #include "math.h"
 #include "defines.h"
@@ -47,23 +48,29 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
   float u, v, w;
 
   switch((int)PIN(mode)){
-    case 0: // 90°
+    case PHASE_90_3PH: // 90°
       u = a;
       v = 0.0;
       w = b;
       break;
 
-    case 1: // 120°
-      u =   a;
+    case PHASE_120_3PH: // 120°
+      u = a;
       v = - a / 2.0 + b / 2.0 * M_SQRT3;
       w = - a / 2.0 - b / 2.0 * M_SQRT3;
       break;
 
-    case 2: // 180°
+    case PHASE_180_2PH: // 180°
       u = b / 2.0;
       v = 0.0;
       w = - b / 2.0;
       break;
+
+    case PHASE_180_3PH: // 180°
+      u = b / 2.0;
+      v = a;
+      w = - b / 2.0;
+      break;
       
     default:
       u = 0.0;

src/comps/hv.c

@@ -18,7 +18,8 @@ HAL_PIN(vel);
 HAL_PIN(en);
 
 // config data from LS
-HAL_PIN(mode);
+HAL_PIN(phase_mode);
+HAL_PIN(cmd_mode);
 HAL_PIN(r);
 HAL_PIN(l);
 HAL_PIN(psi);
@@ -170,7 +171,6 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
    float pos = PIN(pos);
    float vel = PIN(vel);
    
-   ctx->config.pins.mode = PIN(mode);
    ctx->config.pins.r = PIN(r);
    ctx->config.pins.l = PIN(l);
    ctx->config.pins.psi = PIN(psi);
@@ -235,6 +235,8 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
     ctx->packet_to_hv.q_cmd = 0.0;
     ctx->packet_to_hv.flags.enable = 0;
   }
+  ctx->packet_to_hv.flags.cmd_type = PIN(cmd_mode);
+  ctx->packet_to_hv.flags.phase_type = PIN(phase_mode);
   ctx->packet_to_hv.pos = pos;
   ctx->packet_to_hv.vel = vel;
   ctx->packet_to_hv.addr = ctx->addr;

stm32f303/src/comps/ls.c

@@ -18,7 +18,8 @@ HAL_PIN(vel);
 HAL_PIN(en);
 
 // config data from LS
-HAL_PIN(mode);
+HAL_PIN(cmd_mode);
+HAL_PIN(phase_mode);
 HAL_PIN(r);
 HAL_PIN(l);
 HAL_PIN(psi);
@@ -121,7 +122,6 @@ static void hw_init(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
    DMA1->IFCR = DMA_IFCR_CTCIF3 | DMA_IFCR_CHTIF3 | DMA_IFCR_CGIF3;
    DMA1_Channel3->CCR |= DMA_CCR_EN;
    
-   config.pins.mode = 0.0;
    config.pins.r = 0.0;
    config.pins.l = 0.0;
    config.pins.psi = 0.0;
@@ -152,14 +152,15 @@ static void rt_start(volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr)
 static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst_t * pin_ptr){
    struct ls_ctx_t * ctx = (struct ls_ctx_t *)ctx_ptr;
    struct ls_pin_ctx_t * pins = (struct ls_pin_ctx_t *)pin_ptr;
-   
+
    uint32_t dma_pos = sizeof(packet_to_hv_t) - DMA1_Channel3->CNDTR;
-   
-   
+
    if(dma_pos == sizeof(packet_to_hv_t)){
       uint32_t crc = HAL_CRC_Calculate(&hcrc, (uint32_t *) &(ctx->packet_to_hv), sizeof(packet_to_hv_t) / 4 - 1);
       if(crc == ctx->packet_to_hv.crc){
          PIN(en) = ctx->packet_to_hv.flags.enable;
+         PIN(phase_mode) = ctx->packet_to_hv.flags.phase_type;
+         PIN(cmd_mode) = ctx->packet_to_hv.flags.cmd_type;
          PIN(d_cmd) = ctx->packet_to_hv.d_cmd;
          PIN(q_cmd) = ctx->packet_to_hv.q_cmd;
          PIN(pos) = ctx->packet_to_hv.pos;
@@ -167,8 +168,7 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
          uint8_t a = ctx->packet_to_hv.addr;
          a = CLAMP(a, 0, sizeof(config) / 4);
          config.data[a] = ctx->packet_to_hv.value; // TODO: first enable after complete update
-         
-         PIN(mode) = config.pins.mode;
+
          PIN(r) = config.pins.r;
          PIN(l) = config.pins.l;
          PIN(psi) = config.pins.psi;
@@ -192,12 +192,12 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
    if(USART3->ISR & USART_ISR_RTOF){ // idle line
       USART3->ICR |= USART_ICR_RTOCF | USART_ICR_FECF | USART_ICR_ORECF; // timeout clear flag
       GPIOA->BSRR |= GPIO_PIN_10;
-      
+
       PIN(idle)++;
       if(dma_pos != sizeof(packet_to_hv_t)){
          PIN(dma_pos) = dma_pos;
       }
-      
+
       // reset rx DMA
       DMA1_Channel3->CCR &= (uint16_t)(~DMA_CCR_EN);
       DMA1_Channel3->CNDTR = sizeof(packet_to_hv_t);
@@ -207,9 +207,7 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
 
       //ctx->send = 1;
    }
-   
-   
-   
+
    if(ctx->send == 2){
       ctx->send = 0;
    }
@@ -224,7 +222,7 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
       state.pins.core_temp = PIN(core_temp);
       state.pins.fault = PIN(fault);
       state.pins.y = PIN(y);
-      
+
       // fill tx struct
       ctx->packet_from_hv.dc_volt = PIN(dc_volt);
       ctx->packet_from_hv.pwm_volt = PIN(pwm_volt);
@@ -234,34 +232,42 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
       ctx->packet_from_hv.value = state.data[ctx->tx_addr++];
       ctx->tx_addr %= sizeof(state) / 4;
       ctx->packet_from_hv.crc = HAL_CRC_Calculate(&hcrc, (uint32_t *) &(ctx->packet_from_hv), sizeof(packet_from_hv_t) / 4 - 1);
-      
+
       // start tx DMA
       DMA1_Channel2->CCR &= (uint16_t)(~DMA_CCR_EN);
       DMA1_Channel2->CNDTR = sizeof(packet_from_hv_t);
       DMA1_Channel2->CCR |= DMA_CCR_EN;
       //ctx->send = 0;
    }
-   
+
    if(ctx->timeout > 5){//disable driver
       PIN(en) = 0.0;
       PIN(timeout)++;
    }
    ctx->timeout++;
-   
+
    // TODO: sin = 0.5
-   if(config.pins.mode == 0){// 90°
-      PIN(pwm_volt) = PIN(dc_volt) / M_SQRT2 * 0.95;
-   }else if(config.pins.mode == 1){// 120°
-      PIN(pwm_volt) = PIN(dc_volt) / M_SQRT3 * 0.95;
-   }else if(config.pins.mode == 2){// 180°
-      PIN(pwm_volt) = PIN(dc_volt) * 0.95;
-   }else{
-      PIN(pwm_volt) = 0.0;
+   switch((uint16_t)PIN(phase_mode)){
+      case PHASE_90_3PH: // 90°
+         PIN(pwm_volt) = PIN(dc_volt) / M_SQRT2 * 0.95;
+      break;
+
+      case PHASE_90_4PH: // 90°
+         PIN(pwm_volt) = PIN(dc_volt) * 0.95;
+      break;
+
+      case PHASE_120_3PH: // 120°
+         PIN(pwm_volt) = PIN(dc_volt) / M_SQRT3 * 0.95;
+      break;
+
+      case PHASE_180_2PH: // 180°
+      case PHASE_180_3PH: // 180°
+         PIN(pwm_volt) = PIN(dc_volt) * 0.95;
+      break;
+
+      default:
+         PIN(pwm_volt) = 0.0;
    }
-   
-   
-   
-   
 }
 
 hal_comp_t ls_comp_struct = {

stm32f303/src/main.c

@@ -298,9 +298,9 @@ int main(void)
   hal_parse("curpid0.id_cmd = ls0.d_cmd");
   hal_parse("curpid0.iq_cmd = ls0.q_cmd");
   hal_parse("idq0.pos = ls0.pos");
-  hal_parse("idq0.mode = ls0.mode");
+  hal_parse("idq0.mode = ls0.phase_mode");
   hal_parse("dq0.pos = ls0.pos");
-  hal_parse("dq0.mode = ls0.mode");
+  hal_parse("dq0.mode = ls0.phase_mode");
   hal_parse("hv0.en = ls0.en");
   
   //ADC TEST
@@ -310,9 +310,6 @@ int main(void)
   hal_parse("dq0.v = io0.iv");
   hal_parse("dq0.w = io0.iw");
   
-  // hal_parse("sim0.vel", "idq0.pos");
-  // hal_parse("sim0.vel", "dq0.pos");
-  
   hal_parse("svm0.u = idq0.u");
   hal_parse("svm0.v = idq0.v");
   hal_parse("svm0.w = idq0.w");
@@ -349,6 +346,7 @@ int main(void)
   hal_parse("curpid0.pwm_volt = ls0.pwm_volt");
   hal_parse("curpid0.vel = ls0.vel");
   hal_parse("curpid0.en = ls0.en");
+  hal_parse("curpid0.cmd_mode = ls0.cmd_mode");
 
   // hal parse config
   // hal_init_nrt();