Mirrors_Framework/stmbl
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curpid fix, make fix, ls fix, hal nan error, hal stop fix

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This commit is contained in:
crinq
2017-02-11 00:04:11 +01:00
parent ea291e00d3
commit 7a04a6c10c
7 changed files with 20 additions and 11 deletions
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4
f3dfu/Makefile
View File

@@ -189,10 +189,10 @@ showsize: build
# Flash the device
#
btburn: build showsize $(TARGET).dfu
btburn: $(TARGET).dfu
@tools/bootloader.py
@sleep 1
@dfu-util -d 0483:df11 -a 0 -s 0x08010000:leave -D $(TARGET).dfu
@dfu-util -d 0483:df11 -a 0 -s 0x08000000:leave -D $(TARGET).dfu
flash: $(TARGET).bin
st-flash --reset write $(TARGET).bin 0x08000000

1
shared/hal.c
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@@ -183,6 +183,7 @@ void hal_stop(){
hal_stop_rt();
hal_disable_frt();
hal_disable_rt();
hal.hal_state = HAL2_OK;
for(; hal.rt_deinit_func_count > 0; hal.rt_deinit_func_count--){
hal.rt_deinit[hal.rt_deinit_func_count - 1]();
}

1
shared/hal.h
View File

@@ -97,6 +97,7 @@ typedef struct{
MEM_ERROR,
CONFIG_LOAD_ERROR,
CONFIG_ERROR,
NAN_ERROR,
HAL2_OK
} hal_state;

2
src/comps/res.comp
View File

@@ -18,6 +18,8 @@ HAL_PIN(tim_oc) = 0.0;
MEM(int lastq) = 0;// last quadrant
MEM(int abspos) = 0;// multiturn position
// TODO: in hal stop, reset adc dma
RT_INIT(
//timer init for v4, v3 uses slave timer
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

7
src/main.c
View File

@@ -157,7 +157,12 @@ void DMA2_Stream0_IRQHandler(void){
PIN(rt_time) = ((float)(start - end)) / hal_get_systick_freq();
PIN(rt_period_time) = period;
hal.rt_state = RT_SLEEP;
if(hal.hal_state != HAL2_OK){
hal.rt_state = RT_STOP;
}
else{
hal.rt_state = RT_SLEEP;
}
}
int main(void)

4
stm32f303/src/comps/curpid.comp
View File

@@ -47,9 +47,9 @@ RT(
float ff = PIN(ff);
float kind = PIN(kind);
float kpd = ld * PIN(kp) / period;
float kpd = ld * PIN(kp) / period / 2.0;
float kid = rd * PIN(ki) / ld;
float kpq = lq * PIN(kp) / period;
float kpq = lq * PIN(kp) / period / 2.0;
float kiq = rq * PIN(ki) / lq;
//TODO curpid: sqrt(di^2+qi^2) auf max_ac_cur clampen

12
stm32f303/src/comps/ls.comp
View File

@@ -122,16 +122,15 @@ RT(
// TODO: sin = 0.5
if(config.pins.mode == 0){// 90°
packet_from_hv.data.pwm_volt = PIN(dc_volt) / M_SQRT2 * 0.95;
PIN(pwm_volt) = PIN(dc_volt) / M_SQRT2 * 0.95;
}else if(config.pins.mode == 1){// 120°
packet_from_hv.data.pwm_volt = PIN(dc_volt) / M_SQRT3 * 0.95;
PIN(pwm_volt) = PIN(dc_volt) / M_SQRT3 * 0.95;
}else if(config.pins.mode == 2){// 180°
packet_from_hv.data.pwm_volt = PIN(dc_volt) * 0.95;
PIN(pwm_volt) = PIN(dc_volt) * 0.95;
}else{
packet_from_hv.data.pwm_volt = 0.0;
PIN(pwm_volt) = 0.0;
}
PIN(pwm_volt) = packet_from_hv.data.pwm_volt;
state.pins.u_fb = PIN(u_fb);
state.pins.v_fb = PIN(v_fb);
state.pins.w_fb = PIN(w_fb);
@@ -147,6 +146,7 @@ RT(
datapos = 0;
((uint8_t*)&packet_to_hv)[datapos++] = (uint8_t)buf;
packet_from_hv.data.dc_volt = PIN(dc_volt);
packet_from_hv.data.pwm_volt = PIN(pwm_volt);
packet_from_hv.data.d_fb = PIN(d_fb);
packet_from_hv.data.q_fb = PIN(q_fb);
packet_from_hv.data.addr = addr;