/*
* Called every time new ADC values are available. Note that
* the ADC is initialized from mcpwm.c
*/
void main_dma_adc_handler(void) {
ledpwm_update_pwm();
if (sample_at_start && mcpwm_get_state() == MC_STATE_STARTING) {
sample_now = 0;
sample_ready = 0;
was_start_wample = 1;
sample_at_start = 0;
}
static int a = 0;
if (!sample_ready) {
a++;
if (a >= sample_int) {
a = 0;
curr0_samples[sample_now] = ADC_curr_norm_value[0];
curr1_samples[sample_now] = ADC_curr_norm_value[1];
ph1_samples[sample_now] = ADC_V_L1;
ph2_samples[sample_now] = ADC_V_L2;
ph3_samples[sample_now] = ADC_V_L3;
vzero_samples[sample_now] = ADC_V_ZERO * MCPWM_VZERO_FACT;
if (mcpwm_get_state() == MC_STATE_DETECTING && 0) {
status_samples[sample_now] = mcpwm_get_detect_top();
} else {
uint8_t tmp;
if (was_start_wample) {
if (mcpwm_get_state() == MC_STATE_STARTING) {
tmp = 1;
} else if (mcpwm_get_state() == MC_STATE_RUNNING) {
tmp = 2;
} else {
tmp = 3;
}
} else {
tmp = mcpwm_read_hall_phase();
}
status_samples[sample_now] = mcpwm_get_comm_step() | (tmp << 3);
}
curr_fir_samples[sample_now] = (int16_t)(mcpwm_get_tot_current_filtered() * 100);
sample_now++;
if (sample_now == sample_len) {
sample_ready = 1;
sample_now = 0;
was_start_wample = 0;
chSysLockFromIsr();
chEvtSignalI(sample_send_tp, (eventmask_t) 1);
chSysUnlockFromIsr();
}
main_last_adc_duration = mcpwm_get_last_adc_isr_duration();
}
}
}
float mc_interface_get_tot_current_filtered(void) {
float ret = 0.0;
switch (m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_tot_current_filtered();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_tot_current_filtered();
break;
default:
break;
}
return ret;
}
