Pos PID fix, AS5047 fix, changed FOC time constant, updated conf gene…

…rator
benerone · Feb 27, 2020 · 5df9246 · 5df9246
1 parent 8ae52e8
commit 5df9246
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Showing 6 changed files with 13 additions and 6 deletions.
diff --git a/CHANGELOG b/CHANGELOG
@@ -1,3 +1,9 @@
+=== FW 4.02 ===
+* Position PID fix (most notable on multiturn encoders).
+* App balance updates. See https://github.com/vedderb/bldc/pull/138.
+* Changed FOC time constant back to 1000 us.
+* Do not count AS5047 all ones as fault.
+
 === FW 4.01 ===
 * Leave debug mode on NRF5x after disconnect to avoid excess power consumption before power cycle.
 * Added encoder_clear_errors and encoder_clear_multiturn terminal commands.

diff --git a/conf_general.c b/conf_general.c
@@ -1127,7 +1127,7 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
 		mcconf_old.l_current_max = i_max;
 		mcconf_old.l_current_min = -i_max;
 
-		float tc = 4000.0;
+		float tc = 1000.0;
 		float bw = 1.0 / (tc * 1e-6);
 		float kp = l * bw;
 		float ki = r * bw;

diff --git a/conf_general.h b/conf_general.h
@@ -22,7 +22,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR		4
-#define FW_VERSION_MINOR		01
+#define FW_VERSION_MINOR		02
 
 #include "datatypes.h"
 

diff --git a/confgenerator.h b/confgenerator.h
@@ -9,7 +9,7 @@
 
 // Constants
 #define MCCONF_SIGNATURE		3632471335
-#define APPCONF_SIGNATURE		2964134872
+#define APPCONF_SIGNATURE		1232755601
 
 // Functions
 int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

diff --git a/encoder.c b/encoder.c
@@ -535,7 +535,7 @@ void encoder_tim_isr(void) {
 		spi_end();
 
 		spi_val = pos;
-		if(spi_check_parity(pos) && pos != 0xffff) {  // all ones = disconnect
+		if(spi_check_parity(pos)) {
 			pos &= 0x3FFF;
 			last_enc_angle = ((float)pos * 360.0) / 16384.0;
 			UTILS_LP_FAST(spi_error_rate, 0.0, 1./AS5047_SAMPLE_RATE_HZ);

diff --git a/mcpwm_foc.c b/mcpwm_foc.c
@@ -3144,8 +3144,9 @@ static void run_pid_control_pos(float angle_now, float angle_set, float dt) {
 
 
 	// I-term wind-up protection
-	utils_truncate_number_abs(&p_term, 1.0);
-	utils_truncate_number_abs(&i_term, 1.0 - fabsf(p_term));
+	float p_tmp = p_term;
+	utils_truncate_number_abs(&p_tmp, 1.0);
+	utils_truncate_number_abs(&i_term, 1.0 - fabsf(p_tmp));
 
 	// Store previous error
 	prev_error = error;