ADD: abs for current measure

2018-02-17 00:19:10 +01:00 · 2018-02-17 00:19:10 +01:00 · b988e09e3e
parent 6842f7b7fe
commit b988e09e3e
3 changed files with 291 additions and 282 deletions
--- a/Inc/config.h
+++ b/Inc/config.h
@ -13,7 +13,7 @@
 #define PWM_FREQ         16000     // PWM frequency in Hz
 #define DEAD_TIME        32        // PWM deadtime

-#define DC_CUR_LIMIT     32         // Motor DC current limit in amps
+#define DC_CUR_LIMIT     34         // Motor DC current limit in amps

 //#define DEBUG_SERIAL_SERVOTERM
 #define DEBUG_SERIAL_ASCII
--- a/Src/bldc.c
+++ b/Src/bldc.c
@ -153,9 +153,9 @@ void DMA1_Channel1_IRQHandler() {
    return;
  }

-  batteryVoltage = batteryVoltage * 0.99 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.01;
+  batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.001;

-  if((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
+  if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
    LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
    //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
  } else {
@ -163,7 +163,7 @@ void DMA1_Channel1_IRQHandler() {
    //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
  }

-  if((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP  > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
+  if(ABS((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP)  > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
    RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
  } else {
    RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
--- a/build/hover.hex
+++ b/build/hover.hex
@ -1,23 +1,23 @@
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