/*
* 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();
}
}
}
/*
* 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 && (mc_interface_get_state() == MC_STATE_RUNNING ||
start_comm != mcpwm_get_comm_step())) {
sample_now = 0;
sample_ready = 0;
sample_at_start = 0;
}
static int a = 0;
if (!sample_ready) {
a++;
if (a >= sample_int) {
a = 0;
if (mc_interface_get_state() == MC_STATE_DETECTING) {
curr0_samples[sample_now] = (int16_t)mcpwm_detect_currents[mcpwm_get_comm_step() - 1];
curr1_samples[sample_now] = (int16_t)mcpwm_detect_currents_diff[mcpwm_get_comm_step() - 1];
ph1_samples[sample_now] = (int16_t)mcpwm_detect_voltages[0];
ph2_samples[sample_now] = (int16_t)mcpwm_detect_voltages[1];
ph3_samples[sample_now] = (int16_t)mcpwm_detect_voltages[2];
} else {
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 - mcpwm_vzero;
ph2_samples[sample_now] = ADC_V_L2 - mcpwm_vzero;
ph3_samples[sample_now] = ADC_V_L3 - mcpwm_vzero;
}
vzero_samples[sample_now] = mcpwm_vzero;
curr_fir_samples[sample_now] = (int16_t)(mc_interface_get_tot_current() * 100.0);
f_sw_samples[sample_now] = (int16_t)(mc_interface_get_switching_frequency_now() / 10.0);
status_samples[sample_now] = mcpwm_get_comm_step() | (mcpwm_read_hall_phase() << 3);
sample_now++;
if (sample_now == sample_len) {
sample_ready = 1;
sample_now = 0;
chSysLockFromISR();
chEvtSignalI(sample_send_tp, (eventmask_t) 1);
chSysUnlockFromISR();
}
main_last_adc_duration = mcpwm_get_last_adc_isr_duration();
}
}
}
static void adc_int_handler(void *p, uint32_t flags) {
(void)p;
(void)flags;
uint32_t t_start = timer_time_now();
// Reset the watchdog
timeout_feed_WDT(THREAD_MCPWM);
int curr0 = GET_CURRENT1();
int curr1 = GET_CURRENT2();
#ifdef HW_HAS_3_SHUNTS
int curr2 = GET_CURRENT3();
#endif
m_curr0_sum += curr0;
m_curr1_sum += curr1;
#ifdef HW_HAS_3_SHUNTS
m_curr2_sum += curr2;
#endif
curr0 -= m_curr0_offset;
curr1 -= m_curr1_offset;
#ifdef HW_HAS_3_SHUNTS
curr2 -= m_curr2_offset;
#endif
m_curr_samples++;
// Update current
#ifdef HW_HAS_3_SHUNTS
float i1 = -(float)curr2;
#else
float i1 = -(float)curr1;
#endif
float i2 = (float)curr0;
m_current_now = utils_max_abs(i1, i2) * FAC_CURRENT;
UTILS_LP_FAST(m_current_now_filtered, m_current_now, m_conf->gpd_current_filter_const);
// Check for most critical faults here, as doing it in mc_interface can be too slow
// for high switching frequencies.
const float input_voltage = GET_INPUT_VOLTAGE();
static int wrong_voltage_iterations = 0;
if (input_voltage < m_conf->l_min_vin ||
input_voltage > m_conf->l_max_vin) {
wrong_voltage_iterations++;
if ((wrong_voltage_iterations >= 8)) {
mc_interface_fault_stop(input_voltage < m_conf->l_min_vin ?
FAULT_CODE_UNDER_VOLTAGE : FAULT_CODE_OVER_VOLTAGE);
}
} else {
wrong_voltage_iterations = 0;
}
if (m_conf->l_slow_abs_current) {
if (fabsf(m_current_now) > m_conf->l_abs_current_max) {
mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT);
}
} else {
if (fabsf(m_current_now_filtered) > m_conf->l_abs_current_max) {
mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT);
}
}
// Buffer handling
static bool buffer_was_empty = true;
static int interpol = 0;
static float buffer_last = 0.0;
static float buffer_next = 0.0;
interpol++;
if (interpol > m_conf->gpd_buffer_interpol) {
interpol = 0;
if (m_sample_buffer.read != m_sample_buffer.write) {
buffer_last = buffer_next;
buffer_next = m_sample_buffer.buffer[m_sample_buffer.read++];
m_sample_buffer.read %= SAMPLE_BUFFER_SIZE;
m_output_now = buffer_last;
m_is_running = true;
buffer_was_empty = false;
} else {
if (!buffer_was_empty) {
stop_pwm_hw();
}
buffer_was_empty = true;
}
} else if (!buffer_was_empty) {
m_output_now = utils_map((float)interpol,
0.0, (float)m_conf->gpd_buffer_interpol + 1.0,
buffer_last, buffer_next);
m_is_running = true;
}
if (m_is_running) {
gpdrive_output_sample(m_output_now);
if (m_output_mode == GPD_OUTPUT_MODE_CURRENT) {
float v_in = GET_INPUT_VOLTAGE();
float err = m_current_state.current_set - m_current_now_filtered;
m_current_state.voltage_now = m_current_state.voltage_int + err * m_conf->gpd_current_kp;
m_current_state.voltage_int += err * m_conf->gpd_current_ki * (1.0 / m_fsw_now);
utils_truncate_number_abs((float*)&m_current_state.voltage_int, v_in);
set_modulation(m_current_state.voltage_now / v_in);
}
}
ledpwm_update_pwm();
m_last_adc_isr_duration = timer_seconds_elapsed_since(t_start);
}
void mc_interface_mc_timer_isr(void) {
ledpwm_update_pwm(); // LED PWM Driver update
const float input_voltage = GET_INPUT_VOLTAGE();
// Check for faults that should stop the motor
static int wrong_voltage_iterations = 0;
if (input_voltage < m_conf.l_min_vin ||
input_voltage > m_conf.l_max_vin) {
wrong_voltage_iterations++;
if ((wrong_voltage_iterations >= 8)) {
mc_interface_fault_stop(input_voltage < m_conf.l_min_vin ?
FAULT_CODE_UNDER_VOLTAGE : FAULT_CODE_OVER_VOLTAGE);
}
} else {
wrong_voltage_iterations = 0;
}
if (mc_interface_get_state() == MC_STATE_RUNNING) {
m_cycles_running++;
} else {
m_cycles_running = 0;
}
if (pwn_done_func) {
pwn_done_func();
}
const float current = mc_interface_get_tot_current_filtered();
const float current_in = mc_interface_get_tot_current_in_filtered();
m_motor_current_sum += current;
m_input_current_sum += current_in;
m_motor_current_iterations++;
m_input_current_iterations++;
float abs_current = mc_interface_get_tot_current();
float abs_current_filtered = current;
if (m_conf.motor_type == MOTOR_TYPE_FOC) {
// TODO: Make this more general
abs_current = mcpwm_foc_get_abs_motor_current();
abs_current_filtered = mcpwm_foc_get_abs_motor_current_filtered();
}
// Current fault code
if (m_conf.l_slow_abs_current) {
if (fabsf(abs_current_filtered) > m_conf.l_abs_current_max) {
mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT);
}
} else {
if (fabsf(abs_current) > m_conf.l_abs_current_max) {
mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT);
}
}
// Watt and ah counters
const float f_sw = mc_interface_get_switching_frequency_now();
if (fabsf(current) > 1.0) {
// Some extra filtering
static float curr_diff_sum = 0.0;
static float curr_diff_samples = 0;
curr_diff_sum += current_in / f_sw;
curr_diff_samples += 1.0 / f_sw;
if (curr_diff_samples >= 0.01) {
if (curr_diff_sum > 0.0) {
m_amp_seconds += curr_diff_sum;
m_watt_seconds += curr_diff_sum * input_voltage;
} else {
m_amp_seconds_charged -= curr_diff_sum;
m_watt_seconds_charged -= curr_diff_sum * input_voltage;
}
curr_diff_samples = 0.0;
curr_diff_sum = 0.0;
}
}
// Sample collection
if (m_sample_at_start && (mc_interface_get_state() == MC_STATE_RUNNING ||
m_start_comm != mcpwm_get_comm_step())) {
m_sample_now = 0;
m_sample_ready = 0;
m_sample_at_start = 0;
}
static int a = 0;
if (!m_sample_ready) {
a++;
if (a >= m_sample_int) {
a = 0;
if (mc_interface_get_state() == MC_STATE_DETECTING) {
m_curr0_samples[m_sample_now] = (int16_t)mcpwm_detect_currents[mcpwm_get_comm_step() - 1];
m_curr1_samples[m_sample_now] = (int16_t)mcpwm_detect_currents_diff[mcpwm_get_comm_step() - 1];
m_ph1_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[0];
m_ph2_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[1];
m_ph3_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[2];
} else {
m_curr0_samples[m_sample_now] = ADC_curr_norm_value[0];
m_curr1_samples[m_sample_now] = ADC_curr_norm_value[1];
m_ph1_samples[m_sample_now] = ADC_V_L1 - mcpwm_vzero;
m_ph2_samples[m_sample_now] = ADC_V_L2 - mcpwm_vzero;
m_ph3_samples[m_sample_now] = ADC_V_L3 - mcpwm_vzero;
}
m_vzero_samples[m_sample_now] = mcpwm_vzero;
m_curr_fir_samples[m_sample_now] = (int16_t)(mc_interface_get_tot_current() * 100.0);
m_f_sw_samples[m_sample_now] = (int16_t)(mc_interface_get_switching_frequency_now() / 10.0);
m_status_samples[m_sample_now] = mcpwm_get_comm_step() | (mcpwm_read_hall_phase() << 3);
m_sample_now++;
if (m_sample_now == m_sample_len) {
m_sample_ready = 1;
m_sample_now = 0;
chSysLockFromISR();
chEvtSignalI(sample_send_tp, (eventmask_t) 1);
chSysUnlockFromISR();
}
m_last_adc_duration_sample = mcpwm_get_last_adc_isr_duration();
}
}
}
