void motor_forced_rotation_detector_init(void)
{
_params.bemf_threshold = config_get("enum_bemf");
_params.voting_threshold = config_get("enum_steps");
_params.max_step_period = config_get("enum_max_step") * HNSEC_PER_USEC;
motor_forced_rotation_detector_reset();
}
void motor_forced_rotation_detector_init(void)
{
_params.bemf_threshold = config_get("motor_forced_rot_bemf_threshold");
_params.voting_threshold = config_get("motor_forced_rot_steps_to_detect");
_params.max_step_period = config_get("motor_forced_rot_max_step_usec") * HNSEC_PER_USEC;
motor_forced_rotation_detector_reset();
}
void motor_rtctl_start(float duty_cycle, bool reverse)
{
motor_rtctl_stop(); // Just in case
if (!_initialization_confirmed) {
return; // Go home you're drunk
}
if (duty_cycle <= 0) {
assert(0);
return;
}
/*
* Initialize the structs
*/
memset(&_diag, 0, sizeof(_diag));
memset(&_state, 0, sizeof(_state)); // Mighty reset
motor_forced_rotation_detector_reset();
_diag.started_at = motor_timer_hnsec();
_state.comm_table = reverse ? COMMUTATION_TABLE_REVERSE : COMMUTATION_TABLE_FORWARD;
_state.pwm_val_after_spinup = motor_pwm_compute_pwm_val(duty_cycle);
init_adc_filters();
/*
* Initial spinup.
*/
const tprio_t orig_priority = chThdSetPriority(HIGHPRIO);
motor_pwm_prepare_to_start();
const bool started = do_bemf_spinup(duty_cycle);
/*
* Engage the normal mode if started
* At this point, if the spinup was OK, we're sutiated RIGHT AFTER THE DETECTED ZERO CROSS, engaged.
*/
if (started) {
_state.blank_time_deadline = motor_timer_hnsec() + _params.comm_blank_hnsec;
_state.zc_detection_result = ZC_DETECTED;
_state.flags = FLAG_ACTIVE | FLAG_SPINUP;
motor_timer_set_relative(_state.comm_period / 3);
lowsyslog("Motor: Spinup OK, comm period: %u usec\n", (unsigned)(_state.comm_period / HNSEC_PER_USEC));
} else {
lowsyslog("Motor: Spinup failed\n");
motor_rtctl_stop();
}
chThdSetPriority(orig_priority);
}
