Added l_duty_start and set correct motor in mcinterface_timer

vedderb · Apr 21, 2020 · 57c5d04 · 57c5d04
1 parent d9fc2fc
commit 57c5d04
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Showing 6 changed files with 20 additions and 2 deletions.
diff --git a/conf_general.h b/conf_general.h
@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			5
 #define FW_VERSION_MINOR			00
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		6
+#define FW_TEST_VERSION_NUMBER		7
 
 #include "datatypes.h"
 

diff --git a/confgenerator.c b/confgenerator.c
@@ -39,6 +39,7 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer_append_float32_auto(buffer, conf->l_watt_min, &ind);
 	buffer_append_float32_auto(buffer, conf->l_current_max_scale, &ind);
 	buffer_append_float32_auto(buffer, conf->l_current_min_scale, &ind);
+	buffer_append_float32_auto(buffer, conf->l_duty_start, &ind);
 	buffer_append_float32_auto(buffer, conf->sl_min_erpm, &ind);
 	buffer_append_float32_auto(buffer, conf->sl_min_erpm_cycle_int_limit, &ind);
 	buffer_append_float32_auto(buffer, conf->sl_max_fullbreak_current_dir_change, &ind);
@@ -330,6 +331,7 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->l_watt_min = buffer_get_float32_auto(buffer, &ind);
 	conf->l_current_max_scale = buffer_get_float32_auto(buffer, &ind);
 	conf->l_current_min_scale = buffer_get_float32_auto(buffer, &ind);
+	conf->l_duty_start = buffer_get_float32_auto(buffer, &ind);
 	conf->sl_min_erpm = buffer_get_float32_auto(buffer, &ind);
 	conf->sl_min_erpm_cycle_int_limit = buffer_get_float32_auto(buffer, &ind);
 	conf->sl_max_fullbreak_current_dir_change = buffer_get_float32_auto(buffer, &ind);
@@ -617,6 +619,7 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->l_watt_min = MCCONF_L_WATT_MIN;
 	conf->l_current_max_scale = MCCONF_L_CURRENT_MAX_SCALE;
 	conf->l_current_min_scale = MCCONF_L_CURRENT_MIN_SCALE;
+	conf->l_duty_start = MCCONF_L_DUTY_START;
 	conf->sl_min_erpm = MCCONF_SL_MIN_RPM;
 	conf->sl_min_erpm_cycle_int_limit = MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT;
 	conf->sl_max_fullbreak_current_dir_change = MCCONF_SL_MAX_FB_CURR_DIR_CHANGE;

diff --git a/confgenerator.h b/confgenerator.h
@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		3632471335
+#define MCCONF_SIGNATURE		3698540221
 #define APPCONF_SIGNATURE		2460147246
 
 // Functions

diff --git a/datatypes.h b/datatypes.h
@@ -244,6 +244,7 @@ typedef struct {
 	float l_watt_min;
 	float l_current_max_scale;
 	float l_current_min_scale;
+	float l_duty_start;
 	// Overridden limits (Computed during runtime)
 	float lo_current_max;
 	float lo_current_min;

diff --git a/mc_interface.c b/mc_interface.c
@@ -1846,6 +1846,7 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
 
 	const float v_in = GET_INPUT_VOLTAGE();
 	const float rpm_now = mc_interface_get_rpm();
+	const float duty_now_abs = fabsf(mc_interface_get_duty_cycle_now());
 
 	UTILS_LP_FAST(motor->m_temp_fet, NTC_TEMP(is_motor_1 ? ADC_IND_TEMP_MOS : ADC_IND_TEMP_MOS_M2), 0.1);
 	float temp_motor = 0.0;
@@ -1992,13 +1993,22 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
 		lo_min_rpm = utils_map(rpm_now, rpm_neg_cut_start, rpm_neg_cut_end, l_current_max_tmp, 0.0);
 	}
 
+	// Duty max
+	float lo_max_duty = 0.0;
+	if (duty_now_abs < conf->l_duty_start) {
+		lo_max_duty = l_current_max_tmp;
+	} else {
+		lo_max_duty = utils_map(duty_now_abs, conf->l_duty_start, conf->l_max_duty, l_current_max_tmp, 0.0);
+	}
+
 	float lo_max = utils_min_abs(lo_max_mos, lo_max_mot);
 	float lo_min = utils_min_abs(lo_min_mos, lo_min_mot);
 
 	lo_max = utils_min_abs(lo_max, lo_max_rpm);
 	lo_max = utils_min_abs(lo_max, lo_min_rpm);
 	lo_max = utils_min_abs(lo_max, lo_fet_temp_accel);
 	lo_max = utils_min_abs(lo_max, lo_motor_temp_accel);
+	lo_max = utils_min_abs(lo_max, lo_max_duty);
 
 	if (lo_max < conf->cc_min_current) {
 		lo_max = conf->cc_min_current;
@@ -2064,6 +2074,7 @@ static volatile motor_if_state_t *motor_now(void) {
 
 static void run_timer_tasks(volatile motor_if_state_t *motor) {
 	bool is_motor_1 = motor == &m_motor_1;
+	mc_interface_select_motor_thread(is_motor_1 ? 1 : 2);
 
 	motor->m_f_samp_now = mc_interface_get_sampling_frequency_now();
 

diff --git a/mcconf/mcconf_default.h b/mcconf/mcconf_default.h
@@ -113,6 +113,9 @@
 #ifndef MCCONF_L_CURRENT_MIN_SCALE
 #define MCCONF_L_CURRENT_MIN_SCALE		1.0	// Minimum current scale
 #endif
+#ifndef MCCONF_L_DUTY_START
+#define MCCONF_L_DUTY_START				1.0 // Start limiting current at this duty cycle
+#endif
 
 // Speed PID parameters
 #ifndef MCCONF_S_PID_KP